TaskCPP.h

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#ifndef TaskCPP_H
#define TaskCPP_H

#include "FreeRTOS.h"
#include "task.h"

enum TaskPriority {
    TaskPrio_Idle = 0,                        
    TaskPrio_Low = 1,                         
    TaskPrio_HMI = 2,                         
    TaskPrio_Mid = (configMAX_PRIORITIES-1)/2,
    TaskPrio_High = configMAX_PRIORITIES-2,   
    TaskPRio_Highest = configMAX_PRIORITIES-1 
};

class Task {
public:
  Task(char const*name, void (*taskfun)(void *), TaskPriority priority,
       unsigned portSHORT stackDepth, void * parm = 0) {
    xTaskCreate(taskfun, name, stackDepth, parm, priority, &handle);
  }
  virtual ~Task() {
#if INCLUDE_vTaskDelete
    if(handle){
        vTaskDelete(handle);
    }
#endif
    return;
  }

  TaskHandle_t handle;  
private:
#if __cplusplus < 201101L
    Task(Task const&);      
    void operator =(Task const&);  
#else
    Task(Task const&) = delete;      
    void operator =(Task const&) = delete;  
#endif // __cplusplus

};

class TaskClass : public Task {
public:
  TaskClass(char const*name,TaskPriority priority,
           unsigned portSHORT stackDepth) :
    Task(name, &taskfun, priority, stackDepth, this)
  {
  }
  virtual void task() = 0;

private:  
  static void taskfun(void* parm) {
    static_cast<TaskClass *>(parm) -> task();
    // If we get here, task has returned, delete ourselves or block indefinitely.
#if INCLUDE_vTaskDelete
    handle = 0;
    vTaskDelete(0); // Delete ourselves
#else
    while(1)
      vTaskDelay(portMAX_DELAY);
#endif
  }
};

#endif